• DocumentCode
    1723213
  • Title

    Tweezers manipulation using high-speed visual servoing based on contact analysis

  • Author

    Senoo, Taku ; Yoneyama, Daiki ; Namiki, Akio ; Ishikawa, Masatoshi

  • Author_Institution
    Dept. of Creative Inf., Univ. of Tokyo, Tokyo, Japan
  • fYear
    2011
  • Firstpage
    1936
  • Lastpage
    1941
  • Abstract
    In this paper, the task of tweezers manipulation is considered with the goal of achieving dexterous manipulation of a human tool. First we analyze the contact state between fingers and tweezers in order to design preferable fingers for tool manipulation. Next the control method based on high-speed visual servoing is presented. Experimental results are shown in which a high-speed hand grasps a tiny grain with tweezers in 2-D and 3-D situations.
  • Keywords
    dexterous manipulators; grippers; visual servoing; contact analysis; contact state; dexterous manipulation; fingers; high-speed hand grasping; high-speed visual servoing; human tool; preferable finger design; tiny grain; tool manipulation; tweezer manipulation; Actuators; Force; Friction; Grasping; Joints; Robots; Skin;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on
  • Conference_Location
    Karon Beach, Phuket
  • Print_ISBN
    978-1-4577-2136-6
  • Type

    conf

  • DOI
    10.1109/ROBIO.2011.6181574
  • Filename
    6181574
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1723213